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only compute jacobians when needed

release/4.3a0
Gerry Chen 2021-10-04 04:04:28 -04:00
parent fe59f3db19
commit bcafdb7557
1 changed files with 8 additions and 7 deletions
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15
gtsam/geometry/Pose3.cpp
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@ -67,9 +67,8 @@ Matrix6 Pose3::AdjointMap() const {
// Calculate AdjointMap applied to xi_b, with Jacobians
Vector6 Pose3::Adjoint(const Vector6& xi_b, OptionalJacobian<6, 6> H_this,
OptionalJacobian<6, 6> H_xib) const {
// Ad * xi = [ R 0 * [w
// [t]R R ] v]
// Ad * xi = [ R 0 . [w
// [t]R R ] v]
// Declarations and aliases
Matrix3 Rw_H_R, Rw_H_w, Rv_H_R, Rv_H_v, pRw_H_t, pRw_H_Rw;
Vector6 result;
@ -77,14 +76,16 @@ Vector6 Pose3::Adjoint(const Vector6& xi_b, OptionalJacobian<6, 6> H_this,
const Vector3 &w = xi_b.head<3>(), &v = xi_b.tail<3>();
// Calculations
Rw = R_.rotate(w, Rw_H_R, Rw_H_w);
const Vector3 Rv = R_.rotate(v, Rv_H_R, Rv_H_v);
const Vector3 pRw = cross(t_, Rw, pRw_H_t, pRw_H_Rw);
Rw = R_.rotate(w, H_this ? &Rw_H_R : nullptr, H_xib ? &Rw_H_w : nullptr);
const Vector3 Rv =
R_.rotate(v, H_this ? &Rv_H_R : nullptr, H_xib ? &Rv_H_v : nullptr);
const Vector3 pRw = cross(t_, Rw, H_this ? &pRw_H_t : nullptr,
H_this || H_xib ? &pRw_H_Rw : nullptr);
result.tail<3>() = pRw + Rv;
pRw_H_t = Rw_H_R; // This is needed to pass the unit tests for some reason
// Jacobians
if (H_this) {
pRw_H_t = Rw_H_R; // This is needed to pass the unit tests for some reason
*H_this = (Matrix6() << Rw_H_R, /* */ Z_3x3, //
/* */ pRw_H_Rw * Rw_H_R + Rv_H_R, pRw_H_t)
.finished();